Subsea tool changer

ABSTRACT

A subsea tool changer comprises a housing; a rotatable carousel rotatably mounted within the housing and adapted to receive a plurality of selectively removable tools; a tool changer that can select a predetermined one of the plurality of tools from the carousel; and a power drive adapted to provide a predetermined function to a tool selected by the tool changer, the power drive further comprising a first power drive interface. In typical use, a selectively removable tool is placed onto the rotatable carousel which is rotated so that a desired selectively removable tool is positioned adjacent to a tool driver which is then mated with the desired selectively removable tool. The tool changer and mated selected removable tool are moved outward toward an outer boundary of the housing and the tool changer extended at least partially outside the housing outward towards a predetermined tool working position. The tool changer is then pivoted to position the selected removable tool to its predetermined tool working position.

RELATION TO PRIOR APPLICATIONS

This application claims priority through U.S. patent application Ser. 12/403,038 filed Mar. 12, 2009, currently allowed, and through U.S. Provisional Application 61/035,957 filed Mar. 12, 2008.

FIELD OF THE INVENTION

The disclosed tool changer allows deployment of multiple, selectable tools. More particularly, the disclosed tool changer allows deployment of multiple, selectable tools in a common housing where one or more of the multiple, selectable tools are selectable underwater such as by using a remotely operated vehicle (ROV) or autonomous underwater vehicle (AUV).

BACKGROUND OF THE INVENTION

ROVs and, at times, AUVs require tools when operating underwater, such as to work on pipelines, wellheads, and other structures while underwater. Most often, these tools are taken down or otherwise supplied one at a time, interactively, by returning the ROV or AUV to a surface location to allow manual exchange the tools.

However, in certain situations, once on site at a remote location (potentially under ice), an ROV or AUV may have to stay deployed underwater for a long time, e.g. up to six months or more, and operate without any maintenance or direct operator intervention. This means that there is no one to manually change out ROV tools as is the normal oilfield practice.

SUMMARY

The disclosed subsea tool changer allows multiple tools such as those usable by an ROV to be carried subsea to support multitasking of during ROV dives (missions). The tools share a common power/drive interface that allows different tools to be selected, acquired, positioned, operated, and stowed without having to make and break electrical or hydraulic connections.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view in partial cutaway perspective of an exemplary embodiment of the subsea tool changer;

FIG. 2 is a view in partial cutaway perspective of a close-up of an exemplary embodiment a power drive illustrating exemplary latches in an extended position;

FIG. 3 is a view in partial cutaway perspective of a close-up of an exemplary embodiment a power drive illustrating exemplary latches in a retracted position; and

FIGS. 4-8 are views in partial cutaway perspective of an exemplary embodiment of the subsea tool changer illustrating a sequence of selecting a tool, with FIG. 5 a showing a block diagram of convention power components.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

Referring now to FIG. 1, subsea tool changer 1 comprises housing 10; carousel 20 rotatably mounted within housing 10 and adapted to receive a plurality of selectively removable tools 40; tool changer 30 adapted to select a predetermined one of the plurality of tools 40 from carousel 20; and power drive 45 adapted to provide a predetermined function to tool 40 that has been selected by tool changer 30, power drive 45 further comprising first power drive interface 46.

As will be understood by those of ordinary skill in these are, tool 40 may be a plurality of tools 40 with one or more the tools 40 being selectively removable.

Housing 10 is typically constructed of a material such as aluminum, glass reinforced plastic (GRP), or a plastic such as High Density Polyethylene (HDPE) or Ultra High Molecular Weight (UHMW) plastic. As illustrated in FIG. 1, housing 10 may be substantially rectangular and have at least one substantially open end, e.g. end 12, which allows for tool 40 to engage with a further device or otherwise be deployed outside housing 10. Housing 10 may be fully or partially enclosed.

Carousel 20 is typically constructed of a material such as aluminum, GRP, or a plastic such as HDPE or UHMW plastic. In preferred embodiments, carousel 20 further comprises one or more tool retainers 22 which are dimensioned and configured to selectively retain one of the selectively removable tools 40. Using tool retainer 22 allows insertion and retraction of tool 40 into and/or out from tool retainer 22.

Tool changer 30 is adapted to select a desired tool 40 from a storage place within housing 10. In a preferred embodiment, tools 40 are stored in tool retainers 22. In a preferred embodiment, tool changer 30 comprises selectively extendable arm 32.

Power drive 45 provides selection, acquisition, positioning, operating, or stowing functions, or the like, or a combination thereof. Power drive 45 is typically pivotably attached to tool changer 30 such as at pivot 31. First power drive interface 46 (FIG. 2) is typically pivotably attached to selectively extendable arm 32 proximate end 33 which is disposed proximate an outer boundary of carousel 30.

Each tool 40 may further comprise a common second power drive interface 47 which is dimensioned and configured to selectively and operatively mate with first power drive interface 46. Tools 40 will typically require electrical, hydraulic, or similar power, or a combination thereof. In a preferred embodiment, first power drive interface 46 operatively couples to second power drive interface 47 without having to make and break an electrical or hydraulic connection.

In preferred embodiments, one or more latches 48 (FIG. 2) are dimensioned and configured to secure a selected removable tool 40 to power drive 45 such as at first power interface 46. In preferred embodiments, latch 48 is selectively extendable and retractable (FIG. 3).

In alternative embodiments, referring still to FIG. 1, subsea tool changer 1 may comprise one or more onboard power sources 50 (FIG. 5 a), one or more external power interfaces 52 (FIG. 5), or a combination thereof. Power sources 50 are operatively in communication with power drive 45. External power interface 52 may be dimensioned and configured to interface with a power source from a remotely operated vehicle, an autonomously operated vehicle, or the like, or a combination thereof. In typical embodiments, external power interface 52 comprises electrical and/or hydraulic power interfaces or the like, or a combination thereof.

In the operation of exemplary embodiments, for subsea tool changer 1, as described above, a selectively removable tool 40 is positioned and secured onto carousel 30 which is rotatably disposed within housing 10.

Referring generally to FIGS. 4-8, tool changer 30 typically starts in the stowed position with tool changer 30 extended outward toward the front of housing 10 (FIGS. 4-5). Carousel 20 is rotated so that the desired tool 40 is at a first position adjacent to tool changer 30 and the desired tool 40 to be selected (FIG. 6).

In a preferred embodiment, tool changer 30 is refracted at least partially into housing 10 to allow it to engage the selected removable tool 40 with first power drive interface 46. For example, power drive 45 is positioned into a position to where its first power drive interface 46 is facing tool 40 to be acquired, e.g. pivoted backwards. Tool changer 30 is retracted inward toward carousel 20 and the tool 40 to be acquired such that first power drive interface 46 is mated to tool 40, e.g. into second power drive interface 47. In a typical method, the mating is via a rotary mechanical connection and tool 40 is securely latched to power drive 45, e.g. using latch 48 (FIG. 3). By way of further example and not limitation, a desired tool 40 is selected and power drive 45 pivoted, e.g. flipped backwards, so that first power drive interface 46 is facing a to-be-acquired tool 40. (FIG. 6) Tool changer 30 is retracted inward toward carousel 20 and the to-be-acquired tool 40 such that first power drive interface 46 makes a mechanical rotary connection to the to-be-acquired tool 40 which is then securely latched to power drive 45 (FIG. 6). Tool changer 30 is then extended outward to make room for the newly acquired tool 40 to be pivoted, e.g. flipped, to a forward/working position (FIG. 76). With tool 40 flipped forward, it is ready for use (FIG. 8) and tool changer 30 can be retracted or extended as necessary to facilitate using tool 40.

Once mated, tool changer 30 is then extended outward towards an outer boundary of housing 10 to make room for power drive 45 and tool 40 to be pivoted to a forward working position. (FIG. 7) When power drive 45 and tool 40 are pivoted forward, tool 40 is ready for use. In this working position, tool changer 30 can be retracted or extended as necessary to facilitate use of tool 40. (FIG. 8)

When another tool 40 is desired, the sequence can be reversed to stow a previously selected tool 40 back into a storage place, e.g. a tool retainer 22, and then select the next tool 40.

The foregoing disclosure and description of the inventions are illustrative and explanatory. Various changes in the size, shape, and materials, as well as in the details of the illustrative construction and/or a illustrative method may be made without departing from the spirit of the invention. 

I claim:
 1. A method of providing a tool for subsea use, comprising: a. placing a selectively removable tool onto a carousel rotatably mounted within a housing, the carousel comprising an upper surface exposed to the housing open interior, the selectively removable tool configured to selectively couple with and decouple from a power drive and be stowed into and extracted from a desired one of a plurality of tool retainers, the selectively removable tool comprising a common tool power interface, the power drive comprising: i. a first power drive interface; ii. a power drive tool mating end adapted to selectively engage and disengage the selectively removable tool and selectively couple the first power drive interface with and decouple the first power drive interface from the selectively removable tool's common tool power interface; and iii. a power source interface operatively coupled to the first power drive interface, the power source interface adapted to operatively couple to a power source, receive power from the power source, and provide that power to the first power interface without the power source interface making and breaking its connection to the power source when the first power drive interface is selectively coupled and decoupled to the selectively removable tool's common tool power interface; b. moving a selectively extendable tool changer movably disposed at least partially within the housing into a first position within the housing, the selectively extendable tool changer comprising: i. a tool changer first end disposed within the housing; and ii. a tool changer second end disposed opposite the tool changer first end towards the housing open side wall, the power drive pivotably connected to the tool changer second end, the tool changer adapted to:
 1. selectively insert the power drive tool mating end into a selectively removable tool stowed in one of the plurality of tool retainers;
 2. extract the power drive and the selectively removable tool from that tool retainer;
 3. flip the extracted selectively removable tool and power drive from a first position to a second position that is substantially 180° from the first position with respect to the longitudinal axis of the extracted tool;
 4. selectively flip the extracted selectively removable tool and power drive from the second position back to the first position; and
 5. reseat the extracted selectively removable tool back into one of the plurality of tool retainers; c. pivotably connecting the power drive to the tool changer second end; d. rotating the carousel so that a desired one of the selectively removable tools is positioned adjacent to the tool driver, the desired one of the selectively removable tool stowed in one of a plurality of tool retainers; e. mating the desired selectively removable tool with the tool driver by inserting the power drive tool mating end into the desired selectively removable tool; f. extracting the power drive and the desired selectively removable tool from that tool retainer; and g. flipping the extracted selectively removable tool and power drive from a first position to a second position that is substantially 180° from the first position with respect to the longitudinal axis of the extracted tool.
 2. The method of providing a tool for subsea use of claim 1, wherein mating the desired selectively removable tool with the tool driver by inserting the power drive tool mating end into the desired selectively removable tool further comprises extending the tool changer and the mated selected removable tool outward toward an outer boundary of the housing.
 3. The method of providing a tool for subsea use of claim 1, further comprising retracting the tool changer at least partially into the housing after flipping the extracted selectively removable tool and power drive from a first position to a second position.
 4. The method of providing a tool for subsea use of claim 1, further comprising extending the tool changer at least partially outside the housing outward towards a predetermined tool working position after flipping the extracted selectively removable tool and power drive from a first position to a second position.
 5. The method of providing a tool for subsea use of claim 1, further comprising: a. rotating the carousel so that the flipped selectively removable tool is positioned adjacent to the tool driver when the selectively removable tool is to be disengaged from the tool driver; b. mating the desired selectively removable tool with the tool driver by inserting the power drive tool mating end into the desired selectively removable tool; c. selectively flipping the mated selectively removable tool and power drive from the second position back to the first position; and d. reseating the extracted selectively removable tool back into one of the plurality of tool retainers.
 6. The method of providing a tool for subsea use of claim 5, further comprising pivoting the tool changer to position the selected removable tool to its predetermined tool working position.
 7. The method of providing a tool for subsea use of claim 8, wherein pivoting the tool changer to position the selected removable tool to its predetermined tool working position further comprises pivoting the tool driver to allow the selected removable tool to be positioned at least partially outside the housing.
 8. The method of providing a tool for subsea use of claim 7, further comprising: a. pivoting the tool changer to position the selected removable tool to its stowable position; b. retracting the tool changer at least partially inside the housing outward towards a predetermined tool storage position; c. disengaging the selected removable tool from the drive interface; d. extending the tool changer at least partially out from the housing; e. retracting the tool changer and the mated selected removable tool inward toward an inner portion of the housing; f. disengaging the desired selectively removable tool from the tool driver; g. rotating the carousel so that the selected removable tool is positioned adjacent to a storage position; and h. stowing the selectively removable tool into the storage position.
 9. The method of providing a tool for subsea use of claim 1, further comprising latching the mated selected removable tool.
 10. The method of providing a tool for subsea use of claim 9, further comprising: a. using a mechanically rotatable connector to connect to a desired selectively removable tool; and b. securely latching the desired selectively removable tool to the tool driver. 